4 papers
Attitude-Aided Linear Calibration of Triaxial Accelerometers
Yongqiang Yu, Tian Huang, Yipeng Yang
Triaxial MEMS accelerometers are widely used for inertial sensing, navigation, and sensor fusion, but existing calibration methods often rely on costly reference setups or nonlinea…
Preserving Full 6-DOF Actuation Under Abrupt Total Rotor Failures: Passive Fault-Tolerant Flight Control Using a Biaxial-Tilt Hexacopter
Yipeng Yang, Yiqiao Tang, Hao Zhang +6
Conventional multirotors suffer from a rapid collapse of attainable wrench space (AWS) under abrupt total rotor failures, rendering full 6-DOF recovery physically impossible. This…
Truncated Rectified Flow Policy for Reinforcement Learning with One-Step Sampling
Xubin Zhou, Yipeng Yang, Zhan Li
Maximum entropy reinforcement learning (MaxEnt RL) has become a standard framework for sequential decision making, yet its standard Gaussian policy parameterization is inherently u…
ATDM:An Anthropomorphic Aerial Tendon-driven Manipulator with Low-Inertia and High-Stiffness
Quman Xu, Zhan Li, Hai Li +2
Aerial Manipulator Systems (AMS) have garnered significant interest for their utility in aerial operations. Nonetheless, challenges related to the manipulator's limited stiffness a…